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GPS Rescue Bugfix, add a failsafe debug, refactor stick deflection (#12195)

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* simple failsafe debug

* simplify areSticksActive

use getRcDeflectionAbs and fix unitTest

* bugfix to require stick input to re-take control

* small refactor
This commit is contained in:
ctzsnooze 2023-01-18 13:44:50 +12:00 • committed by GitHub
parent e5c53597a3
commit 4454286165
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GPG key ID: 4AEE18F83AFDEB23
7 changed files with 30 additions and 30 deletions
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13
src/main/fc/core.c
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@ -683,18 +683,7 @@ static bool canUpdateVTX(void)
bool areSticksActive(uint8_t stickPercentLimit)
{
for (int axis = FD_ROLL; axis <= FD_YAW; axis ++) {
const uint8_t deadband = axis == FD_YAW ? rcControlsConfig()->yaw_deadband : rcControlsConfig()->deadband;
uint8_t stickPercent = 0;
if ((rcData[axis] >= PWM_RANGE_MAX) || (rcData[axis] <= PWM_RANGE_MIN)) {
stickPercent = 100;
} else {
if (rcData[axis] > (rxConfig()->midrc + deadband)) {
stickPercent = ((rcData[axis] - rxConfig()->midrc - deadband) * 100) / (PWM_RANGE_MAX - rxConfig()->midrc - deadband);
} else if (rcData[axis] < (rxConfig()->midrc - deadband)) {
stickPercent = ((rxConfig()->midrc - deadband - rcData[axis]) * 100) / (rxConfig()->midrc - deadband - PWM_RANGE_MIN);
}
}
if (stickPercent >= stickPercentLimit) {
if (getRcDeflectionAbs(axis) * 100.f >= stickPercentLimit) {
return true;
}
}